#ifndef __TRAJECTORY_PLANNING_H__
#define __TRAJECTORY_PLANNING_H__

struct x_trapezoidal_speed {
    unsigned long path_length;
    unsigned long v_max;    /* should always be set due to HW limitation */
    unsigned long a_max;
    unsigned long total_time;
    unsigned long raising_time, falling_time , constant_time;
}

extern unsigned long calculate_params(struct *x_trapezoidal_speed params);

#endif /* __TRAJECTORY_PLANNING_H__ */